PIDEvent.java

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package com.neuronrobotics.sdk.pid;
 
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.ByteList;
 
// TODO: Auto-generated Javadoc
public class PIDEvent {
    
    private int channel;
    
    private float ticks; 
    
    private long timeStamp;
    
    private int velocity;
    
    public PIDEvent(){
        
    }
    
    public PIDEvent(int chan,float tick,long time,int velocity){
        setGroup(chan);
        setValue(tick);
        setTimeStamp(time);
        setVelocity(velocity);
    }
    public void set(int chan,float tick,long time,int velocity){
        setGroup(chan);
        setValue(tick);
        setTimeStamp(time);
        setVelocity(velocity);
    }
    public PIDEvent(BowlerDatagram data){
        if(!data.getRPC().contains("_pid"))
            throw new RuntimeException("Datagram is not a PID event");
        setGroup(data.getData().getByte(0));
        setValue(ByteList.convertToInt(data.getData().getBytes(1, 4),true));
        setTimeStamp(System.currentTimeMillis());
        setVelocity(ByteList.convertToInt(data.getData().getBytes(9, 4),true));
    }
    
    
    public void setGroup(int channel) {
        this.channel = channel;
    }
    
    public int getGroup() {
        return channel;
    }
    
    public void setValue(float ticks) {
        this.ticks = ticks;
    }
    
    public float getValue() {
        return ticks;
    }
    
    public void setTimeStamp(long timeStamp) {
        this.timeStamp = timeStamp;
    }
    
    public long getTimeStamp() {
        return timeStamp;
    }
    
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    @Override 
    public String toString(){
        return "PID Event: \n\tchan = "+channel+"\n\tvalue = "+ticks+"\n\ttime = "+timeStamp+"\n\tvelocity since last packet= "+velocity;
    }
    
    public void setVelocity(int vel) {
        this.velocity = vel;
    }
    
    public int getVelocity() {
        return velocity;
    }
}